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http://dx.doi.org/10.7736/KSPE.2013.30.1.96

Techniques of Editing and Reproducing Robot Operation Data for Direct Teaching  

Kim, Han-Joon (Department of Control and Instrumentation Engineering, Kwangwoon Univ.)
Wang, Young-Jin (Department of Control and Instrumentation Engineering, Kwangwoon Univ.)
Kim, Jin-Oh (School of Robotics, Kwangwoon Univ.)
Back, Ju-Hoon (School of Robotics, Kwangwoon Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.30, no.1, 2013 , pp. 96-104 More about this Journal
Abstract
Study of human-robot Interaction gets more and more attention to expand the robot application for tasks difficult by robot alone. Developed countries are preparing for a new market by introducing the concept of 'Co-Robot' model of human-robot Interaction. Our research of direct teaching is a way to instruct robot's trajectory by human's handling of its end device. This method is more intuitive than other existing methods. The benefit of this approach includes easy and fast teaching even by non-professional workers. And it can enhance utilization of robots in small and medium-sized enterprises for small quantity batch production. In this study, we developed the algorithms for creating accurate trajectory from repeated inaccurate direct teaching and GUI for the direct teaching. We also propose the basic framework for direct teaching.
Keywords
Human-robot Interaction; Direct Teaching; Robot Operation Data; Robot Trajectory;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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